<airframes>
  <version>1</version>
  <airframe_version_major>1</airframe_version_major>
  <airframe_version_minor>1</airframe_version_minor>
  <airframe_group name="Airship" image="Airship">
    <airframe name="Cloudship" id="2507" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Airship</class>
      <type>Airship</type>
      <output name="Motor1">starboard thruster</output>
      <output name="Motor2">port thruster</output>
      <output name="Motor3">tail thruster</output>
      <output name="Servo1">thrust tilt</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Autogyro" image="Autogyro">
    <airframe name="ThunderFly Auto-G2" id="17002" maintainer="ThunderFly s.r.o., Roman Dvorak &lt;dvorakroman@thunderfly.cz&gt;">
      <class>Autogyro</class>
      <maintainer>ThunderFly s.r.o., Roman Dvorak &lt;dvorakroman@thunderfly.cz&gt;</maintainer>
      <type>Autogyro</type>
      <url>https://github.com/ThunderFly-aerospace/Auto-G2/</url>
      <output name="Motor1">throttle</output>
      <output name="Servo1">rotor_head_L</output>
      <output name="Servo2">rotor_head_R</output>
      <output name="Servo3">elevator</output>
      <output name="Servo4">rudder</output>
      <output name="Servo5">rudder (second, optional)</output>
      <output name="Servo6">wheel</output>
    </airframe>
    <airframe name="ThunderFly TF-G2" id="17003" maintainer="ThunderFly s.r.o., Roman Dvorak &lt;dvorakroman@thunderfly.cz&gt;">
      <class>Autogyro</class>
      <maintainer>ThunderFly s.r.o., Roman Dvorak &lt;dvorakroman@thunderfly.cz&gt;</maintainer>
      <type>Autogyro</type>
      <url>https://github.com/ThunderFly-aerospace/TF-G2/</url>
      <output name="Motor1">throttle</output>
      <output name="Servo1">rotor_head_L</output>
      <output name="Servo2">rotor_head_R</output>
      <output name="Servo3">rudder</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Balloon" image="Balloon">
    <airframe name="ThunderFly balloon TF-B1" id="18001" maintainer="ThunderFly s.r.o.">
      <class>Balloon</class>
      <maintainer>ThunderFly s.r.o.</maintainer>
      <type>Balloon</type>
      <url>https://github.com/ThunderFly-aerospace/TF-B1/</url>
    </airframe>
  </airframe_group>
  <airframe_group name="Dodecarotor cox" image="DodecaRotorXCoaxial">
    <airframe name="Generic Dodecarotor cox geometry" id="24001" maintainer="William Peale &lt;develop707@gmail.com&gt;">
      <class>Copter</class>
      <maintainer>William Peale &lt;develop707@gmail.com&gt;</maintainer>
      <type>Dodecarotor cox</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Helicopter" image="Helicopter">
    <airframe name="Generic Helicopter (Tail ESC)" id="16001" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Copter</class>
      <type>Helicopter</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Hexarotor +" image="HexaRotorPlus">
    <airframe name="Generic Hexarotor + geometry" id="7001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Hexarotor +</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Hexarotor Coaxial" image="Y6B">
    <airframe name="Generic Hexarotor coaxial geometry" id="11001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Hexarotor Coaxial</type>
      <output name="Motor1" angle="60" direction="CW">front right top, CW</output>
      <output name="Motor2" angle="60" direction="CCW">front right bottom, CCW</output>
      <output name="Motor3" angle="180" direction="CW">back top, CW</output>
      <output name="Motor4" angle="180" direction="CCW">back bottom, CCW</output>
      <output name="Motor5" angle="-60" direction="CW">front left top, CW</output>
      <output name="Motor6" angle="-60" direction="CCW">front left bottom, CCW</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Hexarotor x" image="HexaRotorX">
    <airframe name="Generic Hexarotor x geometry" id="6001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Hexarotor x</type>
    </airframe>
    <airframe name="UVify Draco-R" id="6002" maintainer="Hyon Lim &lt;lim@uvify.com&gt;">
      <class>Copter</class>
      <maintainer>Hyon Lim &lt;lim@uvify.com&gt;</maintainer>
      <type>Hexarotor x</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Octorotor +" image="OctoRotorPlus">
    <airframe name="Generic Octocopter + geometry" id="9001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Octorotor +</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Octorotor Coaxial" image="OctoRotorXCoaxial">
    <airframe name="Generic 10&quot; Octo coaxial geometry" id="12001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Octorotor Coaxial</type>
      <output name="Motor1">motor 1</output>
      <output name="Motor2">motor 2</output>
      <output name="Motor3">motor 3</output>
      <output name="Motor4">motor 4</output>
      <output name="Motor5">motor 5</output>
      <output name="Motor6">motor 6</output>
      <output name="Motor7">motor 7</output>
      <output name="Motor8">motor 8</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Octorotor x" image="OctoRotorX">
    <airframe name="Generic Octocopter X geometry" id="8001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Octorotor x</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Quadrotor +" image="QuadRotorPlus">
    <airframe name="Generic 10&quot; Quad + geometry" id="5001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor +</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Quadrotor H" image="QuadRotorH">
    <airframe name="Reaper 500 Quad" id="4040" maintainer="Blankered">
      <class>Copter</class>
      <maintainer>Blankered</maintainer>
      <type>Quadrotor H</type>
    </airframe>
    <airframe name="BetaFPV Beta75X 2S Brushless Whoop" id="4041" maintainer="Beat Kueng &lt;beat-kueng@gmx.net&gt;">
      <class>Copter</class>
      <maintainer>Beat Kueng &lt;beat-kueng@gmx.net&gt;</maintainer>
      <type>Quadrotor H</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Quadrotor x" image="QuadRotorX">
    <airframe name="Generic Quadcopter" id="4001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="S500 Generic" id="4014" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="Holybro S500" id="4015" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="PX4 Vision Dev Kit v1" id="4016" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Copter</class>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="NXP HoverGames" id="4017" maintainer="Iain Galloway &lt;iain.galloway@nxp.com&gt;">
      <class>Copter</class>
      <maintainer>Iain Galloway &lt;iain.galloway@nxp.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="Holybro X500 V2" id="4019" maintainer="Farhang Naderi &lt;farhang.nba@gmail.com&gt;">
      <class>Copter</class>
      <maintainer>Farhang Naderi &lt;farhang.nba@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="PX4 Vision Dev Kit v1.5" id="4020" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Copter</class>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="Generic 250 Racer" id="4050" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="HolyBro QAV250" id="4052" maintainer="Beat Kueng &lt;beat-kueng@gmx.net&gt;">
      <class>Copter</class>
      <maintainer>Beat Kueng &lt;beat-kueng@gmx.net&gt;</maintainer>
      <type>Quadrotor x</type>
      <url>https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html</url>
    </airframe>
    <airframe name="Holybro Kopis 2" id="4053" maintainer="Beat Kueng &lt;beat@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Beat Kueng &lt;beat@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="Advanced Technology Labs (ATL) Mantis EDU" id="4061" maintainer="">
      <class>Copter</class>
      <maintainer />
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="UVify IFO" id="4071" maintainer="Hyon Lim &lt;lim@uvify.com&gt;">
      <class>Copter</class>
      <maintainer>Hyon Lim &lt;lim@uvify.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="UVify IFO" id="4073" maintainer="Hyon Lim &lt;lim@uvify.com&gt;">
      <class>Copter</class>
      <maintainer>Hyon Lim &lt;lim@uvify.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="COEX Clover 4" id="4500" maintainer="Oleg Kalachev &lt;okalachev@gmail.com&gt;">
      <class>Copter</class>
      <maintainer>Oleg Kalachev &lt;okalachev@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="Crazyflie 2" id="4900" maintainer="Dennis Shtatov &lt;densht@gmail.com&gt;">
      <class>Copter</class>
      <maintainer>Dennis Shtatov &lt;densht@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe name="Crazyflie 2.1" id="4901" maintainer="Dennis Shtatov &lt;densht@gmail.com&gt;">
      <class>Copter</class>
      <maintainer>Dennis Shtatov &lt;densht@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Simulation" image="AirframeSimulation">
    <airframe name="HIL Quadcopter X" id="1001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
    <airframe name="SIH Quadcopter X" id="1100" maintainer="Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;">
      <class>Copter</class>
      <maintainer>Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Tricopter Y+" image="YPlus">
    <airframe name="Generic Multirotor with tilt" id="14001" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Copter</class>
      <type>Tricopter Y+</type>
      <output name="Motor1">motor 1</output>
      <output name="Motor2">motor 2</output>
      <output name="Motor3">motor 3</output>
      <output name="Servo1">yaw servo</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Flying Wing" image="FlyingWing">
    <airframe name="Generic Flying Wing" id="3000" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Plane</class>
      <type>Flying Wing</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Plane A-Tail" image="PlaneATail">
    <airframe name="Applied Aeronautics Albatross" id="2106" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;">
      <class>Plane</class>
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Plane A-Tail</type>
      <output name="Motor1">throttle</output>
      <output name="Servo1">aileron right</output>
      <output name="Servo2">aileron left</output>
      <output name="Servo3">v-tail right</output>
      <output name="Servo4">v-tail left</output>
      <output name="Servo5">wheel</output>
      <output name="Servo6">flaps right</output>
      <output name="Servo7">flaps left</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Simulation" image="AirframeSimulation">
    <airframe name="SIH plane AERT" id="1101" maintainer="Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;">
      <class>Plane</class>
      <maintainer>Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Standard Plane" image="Plane">
    <airframe name="Generic Standard Plane" id="2100" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Plane</class>
      <type>Standard Plane</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Rover" image="Rover">
    <airframe name="Generic Ground Vehicle (Ackermann)" id="50000" maintainer="">
      <class>Rover</class>
      <maintainer />
      <type>Rover</type>
      <output name="Motor1">throttle</output>
      <output name="Servo1">steering</output>
    </airframe>
    <airframe name="Aion Robotics R1 UGV" id="50003" maintainer="John Doe &lt;john@example.com&gt;">
      <class>Rover</class>
      <type>Rover</type>
      <url>https://www.aionrobotics.com/r1</url>
    </airframe>
    <airframe name="NXP Cup car: DF Robot GPX" id="50004" maintainer="Katrin Moritz">
      <class>Rover</class>
      <maintainer>Katrin Moritz</maintainer>
      <type>Rover</type>
      <output name="Motor1">Speed of left wheels</output>
      <output name="Servo1">Steering servo</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Underwater Robot" image="AirframeUnknown">
    <airframe name="Generic Underwater Robot" id="60000" maintainer="">
      <class>Underwater Robot</class>
      <maintainer />
      <type>Underwater Robot</type>
    </airframe>
    <airframe name="HippoCampus UUV (Unmanned Underwater Vehicle)" id="60001" maintainer="Daniel Duecker &lt;daniel.duecker@tuhh.de&gt;">
      <class>Underwater Robot</class>
      <maintainer>Daniel Duecker &lt;daniel.duecker@tuhh.de&gt;</maintainer>
      <type>Underwater Robot</type>
    </airframe>
  </airframe_group>
  <airframe_group name="Vectored 6 DOF UUV" image="Vectored6DofUUV">
    <airframe name="BlueROV2 (Heavy Configuration)" id="60002" maintainer="Thies Lennart Alff &lt;thies.lennart.alff@tuhh.de&gt;">
      <class>Underwater Robot</class>
      <maintainer>Thies Lennart Alff &lt;thies.lennart.alff@tuhh.de&gt;</maintainer>
      <type>Vectored 6 DOF UUV</type>
      <output name="Motor1">motor 1 CCW, bow starboard horizontal, , propeller CCW</output>
      <output name="Motor2">motor 2 CCW, bow port horizontal, propeller CCW</output>
      <output name="Motor3">motor 3 CCW, stern starboard horizontal, propeller CW</output>
      <output name="Motor4">motor 4 CCW, stern port horizontal, propeller CW</output>
      <output name="Motor5">motor 5 CCW, bow starboard vertical, propeller CCW</output>
      <output name="Motor6">motor 6 CCW, bow port vertical, propeller CW</output>
      <output name="Motor7">motor 7 CCW, stern starboard vertical, propeller CW</output>
      <output name="Motor8">motor 8 CCW, stern port vertical, propeller CCW</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Simulation" image="AirframeSimulation">
    <airframe name="SIH Tailsitter Duo" id="1102" maintainer="Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;">
      <class>VTOL</class>
      <maintainer>Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;</maintainer>
      <type>Simulation</type>
      <output name="Motor1">motor right</output>
      <output name="Motor2">motor left</output>
      <output name="Servo1">elevon right</output>
      <output name="Servo2">elevon left</output>
    </airframe>
  </airframe_group>
  <airframe_group name="Standard VTOL" image="VTOLPlane">
    <airframe name="HIL Standard VTOL QuadPlane" id="1002" maintainer="Roman Bapst &lt;roman@auterion.com&gt;">
      <class>VTOL</class>
      <maintainer>Roman Bapst &lt;roman@auterion.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
    <airframe name="Generic Standard VTOL" id="13000" maintainer="John Doe &lt;john@example.com&gt;">
      <class>VTOL</class>
      <type>Standard VTOL</type>
    </airframe>
    <airframe name="Vertical Technologies DeltaQuad" id="13013" maintainer="Sander Smeets &lt;sander@droneslab.com&gt;">
      <class>VTOL</class>
      <maintainer>Sander Smeets &lt;sander@droneslab.com&gt;</maintainer>
      <type>Standard VTOL</type>
      <output name="Motor1">motor 1</output>
      <output name="Motor2">motor 2</output>
      <output name="Motor3">motor 3</output>
      <output name="Motor4">motor 4</output>
      <output name="Servo1">Right elevon</output>
      <output name="Servo2">Left elevon</output>
      <output name="Servo3">Pusher motor</output>
      <output name="Servo4">Pusher reverse channel</output>
    </airframe>
    <airframe name="BabyShark VTOL" id="13014" maintainer="Silvan Fuhrer &lt;silvan@auterion.com&gt;">
      <class>VTOL</class>
      <maintainer>Silvan Fuhrer &lt;silvan@auterion.com&gt;</maintainer>
      <type>Standard VTOL</type>
      <output name="Motor1">motor 1</output>
      <output name="Motor2">motor 2</output>
      <output name="Motor3">motor 3</output>
      <output name="Motor4">motor 4</output>
      <output name="Motor5">Pusher motor</output>
      <output name="Servo1">Ailerons</output>
      <output name="Servo2">A-tail left</output>
      <output name="Servo3">A-tail right</output>
    </airframe>
  </airframe_group>
  <airframe_group name="VTOL Tailsitter" image="AirframeUnknown">
    <airframe name="Generic VTOL Tailsitter" id="13200" maintainer="John Doe &lt;john@example.com&gt;">
      <class>VTOL</class>
      <type>VTOL Tailsitter</type>
    </airframe>
  </airframe_group>
  <airframe_group name="VTOL Tiltrotor" image="VTOLTiltRotor">
    <airframe name="Generic Quadplane VTOL Tiltrotor" id="13030" maintainer="">
      <class>VTOL</class>
      <maintainer />
      <type>VTOL Tiltrotor</type>
    </airframe>
    <airframe name="Generic Tiltrotor VTOL" id="13100" maintainer="John Doe &lt;john@example.com&gt;">
      <class>VTOL</class>
      <type>VTOL Tiltrotor</type>
    </airframe>
  </airframe_group>
</airframes>
